Advantages of a combined GPS+GLONASS precision sensor for machine control applications in open pit mining

Johnson, Lyle R.; Diggelen, Frank van

doi:10.1109/plans.1998.670211

Cited by 7 publications

(7 citation statements)

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“…This proliferation of satellite navigation technologies will fundamentally change the positioning and navigation landscape, thus allowing for the development of exciting and challenging new applications [38,39]. The integration of systems and the inclusion of more tracked satellites will enable robustification and improvement of the availability, reliability and accuracy of the robotic navigation solutions, in particular under constrained environments such as urban canyons [40] and open-pits [41].…”

Section: Proliferation Of Satellite Navigation Technologiesmentioning

confidence: 99%

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cui¹

2015

JEEE

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Abstract:In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation.

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Section: Proliferation Of Satellite Navigation Technologiesmentioning

confidence: 99%

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Cui¹

2015

JEEE

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“…Combining the linearized DD GNSS code and phase observations of (13) and (14) for the r baselines formed by these antennas, the single-epoch multivariate observation model becomes 1 is the 2fm×3 geometry matrix with e 2f being the 2f ×1 vector of 1's; A = L⊗I m is the 2fm×fm design matrix with 2f ×f matrix L = [Λ T , 0 T ] T and Λ = diag(λ 1 , . .…”

Section: B Gps/galileo Attitude Determinationmentioning

confidence: 99%

“…GNSSonly attitude (orientation) determination for land, airborne, and maritime vehicles has been explored using multiple GNSS receivers/antennas that are rigidly mounted on the platform [1]- [11]. The use of these methods under constrained (satellitedeprived) environments such as urban canyons [12] and open pits [13] is limited due to a lack of sufficient visible satellites. In light of new and modernized GNSS, however, the number of visible satellites will increase, thus resulting in an improved performance of positioning, navigation, and timing (PNT) solutions, particularly in constrained satellite-deprived environments, and offering operational backup or independence in case of failure or unavailability of one system.…”

Section: Introductionmentioning

confidence: 99%

Instantaneous GPS–Galileo Attitude Determination: Single-Frequency Performance in Satellite-Deprived Environments

Nadarajah

Teunissen²,

Raziq

2013

IEEE Trans. Veh. Technol.

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New and modernized global navigation satellite systems (GNSSs) are paving the way for an increasing number of applications in positioning, navigation, and timing (PNT). A combined GNSS constellation will significantly increase the number of visible satellites and, thus, will improve the geometry of observed satellites, enabling improvements in navigation solution availability, reliability, and accuracy. In this paper, a global positioning system (GPS)+Galileo robustness analysis is carried out for instantaneous single-frequency GNSS attitude determination. Precise attitude determination using multiple GNSS antennas mounted on a platform relies on successful resolution of the integer carrier-phase ambiguities. The multivariate-constrained least squares ambiguity decorrelation adjustment (MC-LAMBDA) method has been developed to resolve the integer ambiguities of the nonlinearly constrained GNSS attitude model that incorporates the known antenna geometry. In this paper, the method is used to analyze the attitude determination performance of a combined GPS+Galileo system. Special attention is thereby given to the GPS and Galileo intersystem biases (ISBs). The attitude determination performance is evaluated using GPS/Galileo data sets from a hardware-in-the-loop experiment and two realdata campaigns. In the hardware-in-the-loop experiment, a full GPS/Galileo constellation is simulated, and performance analyses are carried out under various satellite-deprived environments, such as urban canyons, open pits, and other satellite outages. In the first real-data experiment, single-frequency GPS data, combined with the data of Galileo in-orbit validation element (GIOVE) satellites GIOVE-A/GIOVE-B (the two experimental Galileo satellites), are used to analyze the two constellation attitude solutions. In the second real-data experiment, we present the results based on single-frequency data from one of the Galileo IOV satellites, combined with the data of GIOVE-A and GPS. We demonstrate and quantify the improved availability, reliability, and accuracy of attitude determination using the combined constellation.

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“…In cognate robotic applications, external localization can be, and often is, provided by the Global Navigation Satellite System (GNSS) (Johnson and Van Diggelen, 1998), complimented by information from other sensors such as inertial measurement units (IMU), odometers, and beacons (Fallon et al, 2012). A common configuration combines data from a GNSS receiver and a high-quality IMU using an extended Kalman filter to fuse satellite and inertial information into a six degree-of-freedom (6DOF) pose solution.…”

Section: Motivationmentioning

confidence: 99%

Scan matching for terrain mapping in open-pit mining

Aguirre¹,

Antonio²

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This thesis is concerned with the problem of creating three-dimensional terrain maps using a highdensity, high-rate LiDAR sensor mounted on a moving platform without the use of an external localization solution. In particular, the thesis is motivated by the problem of building terrain maps in open-pit mining environments from data produced by haul-truck mounted LiDAR sensors.A foundation problem in map building from such data is the process of assembling together the point clouds generated by individual sensor scans into a common frame of reference. This falls into a broader class of well-studied problems called scan matching. Scan matching is most commonly solved by the Iterative Closet Point (ICP) method.This thesis makes two contributions. The first contribution is a comparison of the different ICP variants for the candidate application. The literature is replete with different algorithms that can be used at different stages of the ICP process. A population of 20,736 ICP-variants drawn from methods proposed in the literature is compared. Whilst others have looked to compare different ICP-variants, this investigation is distinguished from these earlier works in three respects: i) its comprehensiveness; ii) the focus of its target application (the loosely structured terrain of open-cut mining); and iii) its emphasis on how accuracy, precision, and computational efficiency trade-off across different variants. The main finding of this investigation is that the geometry of the point cloud critically determines the quality of the scan match. Significantly, of the variants considered, none were found to simultaneous meet requirements on accuracy, precision, and efficiency, highlighting the need for better approaches.The second contribution comes in the form of progress towards improving on the performance of established methods. For this, the thesis introduces the concept of "eigentropy" to quantify the geometric disorder or geometric information for points of a cloud. Eigentropy is conceptually similar to entropy as it appears in thermodynamics and information theory. Three novel methods are introduced to improve the performance of ICP-based scan-matching for loosely structured terrain. These methods are termed the: eigentropy filter, matching by normal deviation and unilateral eigentropy rejection, and they are based on the geometrical information content at a point. The results associated with these methods improve the overall performance of the ICP algorithm and five accurate, precise, efficient, and robust ICP variants are identified from an expanded population of 73,728. These five variants all use the methods introduced in this thesis.

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Advantages of a combined GPS+GLONASS precision sensor for machine control applications in open pit mining

Cited by 7 publications

References 0 publications

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Instantaneous GPS–Galileo Attitude Determination: Single-Frequency Performance in Satellite-Deprived Environments

Scan matching for terrain mapping in open-pit mining

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Advantages of a combined GPS+GLONASS precision sensor for machine control applications in open pit mining

Cited by 7 publications

References 0 publications

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

Instantaneous GPS&#x2013;Galileo Attitude Determination: Single-Frequency Performance in Satellite-Deprived Environments

Scan matching for terrain mapping in open-pit mining

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Instantaneous GPS–Galileo Attitude Determination: Single-Frequency Performance in Satellite-Deprived Environments